Try letting the little head lead the way for a change, and stop thinking about it and that should work, also try bathing together or a shower, places were touching is more natural, there is nothing like a good soapy rub down to get an erection, try a massage together warm room and oil, do her first then let her do you and see how that goes, and dont forget the candles gives the room a nice soft glow and some wine to help relax you and her.
Good Luck